Planter Downforce And Uplift Monitoring And Control Feedback Devices, Systems And Associated Methods

ABSTRACT

The disclosed apparatus, systems and methods relate to devices, systems and methods for on-the-go monitoring and controlled feedback in a supplemental downforce application. Certain implementations provide real-time monitoring of furrow depth via contact and non-contact approaches, some of which are combined with gauge wheel feedback to calibrate and otherwise control the application of supplemental downforce to the row unit. A combination of sensor types are employed in collecting furrow depth measurements, which can be used to adjust the supplemental downforce through a control system module. A gauge wheel load sensor may be used to modify the application of supplemental downforce.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims priority to U.S. Provisional Application No.62/632,288 filed Feb. 19, 2018, which is hereby incorporated byreference in their entirety under 35 U.S.C. § 119(e).

TECHNICAL FIELD

The disclosed technology relates generally to devices, systems andmethods for use in planting, and in particular, to the devices, methods,and design principles allowing for the monitored and/or controlledapplication of downforce to individual row units in both normal andhigh-speed planting implementations. This has implications for highspeed, high yield planting of corn, beans and other agricultural crops.

BACKGROUND

The disclosure relates to apparatus, systems and methods for use in highspeed planting applications. There is a need in the art for improved,efficient systems for the monitoring of an opened furrow and controlledapplication of net downforce to individual row units via valves influidic communication with individual actuators.

BRIEF SUMMARY

Discussed herein are various devices, systems and methods relating to asystem for the application of downforce to an individual row unit.

In various Examples, a system of one or more computers can be configuredto perform particular operations or actions through software, firmware,hardware, or a combination of them installed on the system that inoperation causes or cause the system to perform the actions. One or morecomputer programs can be configured to perform particular operations oractions by virtue of including instructions that, when executed by dataprocessing apparatus, cause the apparatus to perform the actions.

One Example includes a row unit downforce system including: a downforceactuator in operational communication with the row unit and constructedand arranged to apply supplemental downforce to the row unit and openingdisks; a monitoring system including at least one furrow depth sensorconstructed and arranged to generate furrow depth values; and a controlsystem module, where the control system module is constructed andarranged to generate actuator command signals in response to the furrowdepth values. Other embodiments of this Example include correspondingcomputer systems, apparatus, and computer programs recorded on one ormore computer storage devices, each configured to perform the actions ofthe methods.

Implementations of this Example may include one or more of the followingfeatures. The row unit downforce system further including a shoedisposed between the opening disks, where the at least one sensor isdisposed on the shoe. The row unit downforce system further including agauge wheel load sensor in operational communication with the controlsystem module. The row unit downforce system further including adownforce control system in operational communication with the controlsystem module and constructed and arranged to generate actuator commandsignals for transmission and operation of the actuator. The row unitdownforce system where the downforce control system includes at leastone proportional-integral-derivative control. The row unit downforcesystem where downforce control system utilizes gauge wheel load andfurrow depth to modify applied downforce. Implementation of this Exampleof the described techniques may include hardware, a method or process,or computer software on a computer-accessible medium.

Another Example includes a system for the application of supplementaldownforce to a row unit via an actuator including an on-the-gomonitoring system including at least one sensor constructed and arrangedto generate furrow depth values. Other embodiments of this Exampleinclude corresponding computer systems, apparatus, and computer programsrecorded on one or more computer storage devices, each configured toperform the actions of the methods.

Implementations of this Example may include one or more of the followingfeatures. The system where the at least one furrow depth sensor is anon-contact sensor. The system where the at least one sensor is anon-contact furrow depth sensor rigidly mounted to the row unit and ispositioned to measure a seed furrow bottom distance. The system wherethe at least one sensor further includes a second non-contact groundlevel sensor, where the system including a rider disposed on a supportarm and constructed and arranged to physically contact the furrow. Thesystem including a shoe or seed firmer including one or more sensorsdisposed on substantially vertical surfaces. The system where the one ormore sensors are disposed adjacent to a side or edge of the furrow. Thesystem where the one or more sensors are disposed adjacent to an outercircumferential edge of a gauge wheel. The system where the one or moresensors are disposed adjacent to an outer circumferential edge of anopening disk. The system where the one or more sensors are constructedand arranged to detect an observed or actual revolution speed of a gaugewheels and/or an opening disk by sensing a rotating trigger mechanism.Implementation of this Example of the described techniques may includehardware, a method or process, or computer software on acomputer-accessible medium.

One Example includes a row unit downforce system including: a downforceactuator in operational communication with the row unit and constructedand arranged to apply supplemental downforce to the row unit and openingdisks, and an on-the-go monitoring system including at least one furrowdepth sensor constructed and arranged to generate furrow depth values.Other embodiments of this Example include corresponding computersystems, apparatus, and computer programs recorded on one or morecomputer storage devices, each configured to perform the actions of themethods.

Implementations of this Example may include one or more of the followingfeatures. The row unit downforce system including a gauge wheel loadsensor constructed and arranged to generate gauge wheel load values. Therow unit downforce system including a feedback control system, where thecontrol system module is constructed and arranged to generate actuatorcommand signals in response to furrow depth values and gauge wheel loadvalues. The row unit downforce system where the at least one furrowdepth sensor is disposed on a shoe. Implementations of this Example ofthe described techniques may include hardware, a method or process, orcomputer software on a computer-accessible medium.

One Example includes a row unit downforce system including a downforceactuator in operational communication with the row unit and constructedand arranged to apply supplemental downforce to the row unit and openingdisks, a monitoring system including at least one furrow depth sensorconstructed and arranged to generate furrow depth values; and a controlsystem module, where the control system module is constructed andarranged to generate actuator command signals in response to the furrowdepth values.

One Example includes a system for the application of supplementaldownforce to a row unit via an actuator including an on-the-gomonitoring system including at least one sensor constructed and arrangedto generate furrow depth values.

One Example includes a row unit downforce system including a downforceactuator in operational communication with the row unit and constructedand arranged to apply supplemental downforce to the row unit and openingdisks, and an on-the-go monitoring system including at least one furrowdepth sensor constructed and arranged to generate furrow depth values.

It is appreciated that each of the furrow depth sensing methods andgauge wheel and opening disk sensing methods have utility as stand-alonedevices, systems and methods.

Other embodiments of these Examples include corresponding computersystems, apparatus, and computer programs recorded on one or morecomputer storage devices, each configured to perform the actions of themethods.

While multiple embodiments are disclosed, still other embodiments of thedisclosure will become apparent to those skilled in the art from thefollowing detailed description, which shows and describes illustrativeembodiments of the disclosed apparatus, systems and methods. As will berealized, the disclosed apparatus, systems and methods are capable ofmodifications in various obvious aspects, all without departing from thespirit and scope of the disclosure. Accordingly, the drawings anddetailed description are to be regarded as illustrative in nature andnot restrictive.

DETAILED DESCRIPTION

The various embodiments disclosed or contemplated herein relate todevices, methods, and design principles allowing for the application ofnet downforce to individual row units in planting applications. Thevarious implementations disclosed herein relate to technologies forachieving downforce on a planter with independent row by row controlcapability. The implementations disclosed herein can be used inconjunction with any of the technologies and/or devices, systems andmethods disclosed in Co-Pending U.S. application Ser. No. 16/121,065,filed Sep. 4, 2018 entitled “Improved Planter Down Pressure And UpliftDevices, Systems And Associated Methods,” as well as U.S. Pat. No.9,801,329, issued on Oct. 31, 2017; U.S. Pat. No. 9,629,304, issued onApr. 25, 2017; U.S. application Ser. No. 15/462,276, filed Mar. 17,2017; and U.S. application Ser. No. 15/717,296 filed Sep. 27, 2017, eachof which is entitled “On-The Go Soil Sensors And Control Methods ForAgricultural Machines,” and all of which are incorporated herein byreference in their entirety.

The implementations disclosed herein relate to a downforce system 10comprising at least one of an on-the-go furrow monitoring system 20and/or feedback control system 30. That is, various implementations ofthe downforce system 10 include devices, systems and methods thatmeasure and monitor the depth of the seed furrow during planting withsupplemental downforce.

As shown in the implementation of FIG. 1, certain implementations of thedownforce system 10 include an on-the-go monitoring system 20 and/or adownforce control system 30. In implementations comprising an on-the-gomonitoring system 20, the downforce system 10 is able to establish thedepth of the open furrow 12. In implementations featuring a downforcecontrol system 30, the downforce system 10 is able to use seed furrow 12depth 12A alone or in combination with other forms of data inputs tocontrol feedback. A top view of an implementation comprising themonitoring system 20 is also shown in FIG. 2.

As shown in FIG. 1 and FIG. 2, in a planter row unit 1 according tovarious implementations of the control system 10, opening disks 2A, 2Bare disposed ahead of and within gauge wheels 3A, 3B, which roll alongthe ground 9, as has been previously described. A seed tube 4 isdisposed within the gauge wheels 3A, 3B and constructed and arranged toplant seed into the furrow 12 opened by the opening disks 2A, 2B, as hasbeen previously described. Closing wheels 6A, 6B constructed andarranged to close the furrow 12 are disposed behind the gauge wheels 3A,3B, as has been previously described.

As discussed herein, in certain implementations, one or more trenchdepth sensors, such as a first sensor 14A and a second sensor 14B can bedisposed in the vicinity of the opening furrow 12. The various on-the-gosystem 20 embodiments described herein can include both non-contact andcontact sensors 14A, 14B. It is understood that the various sensors 14,14A, 14B described herein can be contact or non-contact sensors asapplicable.

These embodiments of the downforce system 10 having an on-the-gomonitoring system 20 may be used by an electronic system to display, logand map furrow depth and/or as feedback for an on-the-go automaticfurrow depth control system or on-the-go system 20.

As is also shown in FIG. 1, the row unit 1 according to certainimplementations of the downforce system 10 comprising a sensor 14 suchas a non-contact sensor 14 is affixed to a tool bar 16. Variousimplementations of the row unit 1 have a force transfer actuator 18 thatis constructed and arranged to apply downforce to the row unit 1 and inparticular the opening disks 2A, 2B.

Certain implementations of the downforce system 10 including a downforcecontrol system 30 that uses seed furrow depth 12A alone or incombination with other forms of data inputs to control feedback to theactuator 18.

In various implementations, the downforce system 10 is has a gauge wheelload sensor 22. In various implementations, the various contact andnon-contact sensors 14, 14A, 14B described herein and/or gauge wheelload sensor 22 are in electronic or otherwise operational communicationwith a control system module 24. In use according to theseimplementations, the sensors 14 and/or gauge wheel load sensor 22 areconstructed and arranged to record and transmit or otherwise generatedata points or sensor input signal values (shown in FIG. 1 as referencearrows D and G, respectively) that are transmitted to the control systemmodule 24. For example, a non-contact sensor 14 can be constructed andarranged to generate furrow depth measurements, while the gauge wheelload sensor 22 is constructed and arranged to generate gauge wheel loadvalues.

In these implementations, the control system module 24 is in turnconstructed and arranged to generate actuator command signals (referencearrow C) to command the actuator 18. That is, in these implementations,the downforce system 10 comprises one or more trench depth sensors 14and one or more gauge wheel load sensors 22, and is constructed andarranged to adjust downforce actuation in response to the detectedfurrow depth and/or gauge wheel load values and adjust the actuationwhen one or more of the sensed values exceeds a set point or otherpre-determined threshold. In further implementations, a control feedbacksystem 30 combines the sensed furrow depth and gauge load values and isconfigured to control actuation, as would be understood.

For example, in certain implementations, at least one of gauge wheelload value (drawn, for example, from the gauge wheel load sensor 22) andthe seed furrow depth value (drawn from other sensors, such as thenon-contact sensors 14A, 14B) generated the on-the-go monitoring system20 are used by the control feedback system 30 to establish the amount ofactuator 18 supplemental force. It is understood that these controlsystem implementations allow the downforce system 10 to provide afaster, more precise response when the gauge wheels lose contact withthe ground.

It is understood that current down force systems typically rely onmonitoring the gauge wheel 3A, 3B load during operation to providefeedback for closed-loop control systems. This gauge wheel-basedapproach works well when the wheels are in firm and constant contactwith the soil. However, it is understood that in practice conditionsarise when the applied down force is insufficient to keep the wheels 3A,3B in firm contact with the ground. When this happens in prior artsystems, no information is provided to the control system on themagnitude of planter depth loss, if any. This prevents the controlsystem from tailoring its response appropriately. It is understood thatin the implementations disclosed herein, a down force control algorithmmakes use of depth loss magnitude to improve actuator control, and incertain implementations to increase actuator reaction time when depth islost.

In these implementations, if the amount of depth loss is available asfeedback to the control system 30, via any number of sensing methods, itcan increase applied down pressure more rapidly and forcefully whendepth loss is larger. This reduces the amount of time seed is plantedtoo shallow. Correspondingly, the system can increase applied downpressure more slowly and gently when depth loss is small ornon-existent. This prevents or reduces the over-application of downforce which can cause undesirable soil compaction.

Returning to the implementations of the system 10 of FIG. 1 and FIG. 2in detail, it is understood that there are numerous approaches tomeasuring seed furrow depth which rely on one or more sensors 14A, 14B.These sensors can be used to measure from a reference to the bottom 12Bof the seed furrow 12 or the surface of the ground 12C. Furtherdiscussion of these sensors 14A, 14B is found below in relation to FIGS.4-21.

In implementations like that of FIG. 1, two or more control feedbackinputs are utilized. In various implementations, a first controlfeedback relates to gauge wheel load (from the gauge wheel sensor 22)and another relates to seed furrow depth 12A, as determined by any ofthe contemplated sensors 14A, 14B discussed herein. Otherimplementations are of course possible. The various implementations ofthe down force control system 10 including this feedback control system30 provide a faster, more precise response when the gauge wheels losecontact with the ground.

FIG. 3 depicts a downforce system 10, according to one implementation.It is understood that in these and other implementations, a controlsystem 30 utilizes gauge wheel load input signals 102 and furrow depthfeedback input signals 104, such as from the collection and transmissionof continuous, real time or a time series of recorded measurements. Invarious implementations these input signals 102, 104 are collected viathe sensors (shown elsewhere at 14, 22) that are in operablecommunication with a control system module 24.

The control system module 24 is in turn constructed and arranged so asto generate actuator command signals 110 for transmission and operationof the actuator 18 as applied downforce 114.

In these implementations, each of the gauge wheel load sensor feedback102 and planting or furrow depth sensor feedback 104 (shown in FIG. 1 asreference arrows D and G, respectively) can have its own control (atboxes 106 and 108, respectively). As is explained further below, each ofthese controls 106, 108 is optional. In various implementations, thecontrols 106, 108 can be a proportional-integral-derivative (“PID”)control, a machine learning control, a predictive function control, alookup table and/or a model predictive control, such that variousimplementations can have one or more such controls 106, 108 in operablecommunication with a final summation block or controller output 110 thatis constructed and arranged to establish the downforce command 112voltage transmitted to the actuator 18 as applied downforce 114.

That is, in use, the final summation block or controller output 110 isconstructed and arranged to process the gauge wheel load sensor andplanting or furrow depth sensor signals so as to modify the downforceapplied by the actuator 18. It is understood that in these and otherimplementations, each of the gauge wheel and furrow depth feedback pathscan supply its own contribution, which can be modulated by setpoints/thresholds 116. 118 to the total supplemental down force 114applied to the planter row unit 1.

In various implementations, the gauge wheel set point 116 and plantingdepth set point 118 can either be specified by the user or may beadjusted dynamically as ground conditions, soil properties, vehiclespeed, or other conditions change, as has been previously described.

In various implementations, feedback 102 from the gauge wheel with theoptional set point 116 are summed 120 and planting depth feedback 104with the optional set point 118 are summed 122 and used to calibrate theoverall gauge wheel load error and planting depth error via a directconnection 124 to the gauge wheel control 106 and/or direct connection126 to the planting depth control 108, respectively. It is understoodthat in various implementations, each of the optional gauge wheel and/orfurrow depth feedback systems can be summed via either of the twocontrollers 106, 108, as is shown at lines 128 and 130, or in alternateimplementations, can feed into the other feedback path, as is shown atline 132.

It is understood that according to these implementations, either thegauge wheel control 106 or planting depth control 108 is thereforeoptional, and that in any event the gauge wheel load feedback systemand/or planting depth control feedback system are in operationalcommunication 134 with the controller output 110, so as to modifyapplied downforce, such as via connections at lines 134 and/or 136. Inthis way, it is possible under certain implementations for the gaugewheel load feedback system and/or planting depth control feedback systemto be optional or interconnected with one another as co-terminal streamsof feedback or in communication upstream of one another.

It is further understood that this control system 30 can be asub-component of a larger control system that is actively controllingand adjusting planting depth, vehicle speed, or seed spacing orpopulation.

FIG. 4 depicts one implementation of one implementation of the system 10comprising an on-the-go monitoring system 20. In this implementation,sensors 14A, 14B are disposed on the row unit and are constructed andarranged to locate both the top 12C and the bottom 12B of the seedfurrow 12 thereby establishing furrow depth 12A, which clearlydifferentiates these embodiments from the prior art.

In these and the other implementations described herein, the sensors14A, 14B can be contact and/or non-contact sensors, as is shown in FIG.4 and FIG. 5.

Returning to the implementation of FIG. 4 in detail, a non-contactsensor 14A is fixedly mounted to the planter row unit 1 and isconstructed and arranged measures the distance between the sensor 14Aand the soil or ground level 12C (the ground surface distance, shown at26A), while a separate non-contact sensor 14B is rigidly mounted to theplanter row unit 1 and is positioned to measure the distance to thebottom 12B of the seed furrow (the furrow depth distance shown at 26B).The system 20 is constructed such that the measurements is used todetermine the actual furrow depth 12 at any given moment by subtractingthe ground surface distance 26A from the furrow depth distance 26B, asmeasured from a shared reference location, here the bottom 1A of the rowunit 1.

Certain non-contact sensors utilized in various implementations are, butare not limited to, ultrasonic sensors, single distance ultrasonicsensors, phase-array ultrasonic sensors, vision sensors, laser sensors,laser ranging sensors, reflected light intensity sensors, reflectedstructured light imaging sensors, radar sensors, lidar sensors includingbut not limited to time of flight imaging and swept beams, stereo camerasensors, rotary encoders, GPS, inertial sensors, and/or lineardisplacement sensors, including combinations thereof and sensor fusionand/or phased arrays.

In the implementation of FIG. 5, a first sensor 14A is fixedly mountedto the planter row unit 1 and is constructed and arranged to measure thedistance between the first sensor 14A—which is a contact sensor in thisimplementation- and the soil or ground level 12C (the ground surfacedistance, shown at 26A), while a second sensor 14B—in thisimplementation a second contact sensor that is constructed and arrangedto ride in the seed furrow 12.

The contact sensor 14A of this implementation is constructed andarranged with spring action that urges the distal sensor contact 15 tothe bottom 12B of the seed furrow 12. The contact sensor 14B is mountedto the planter row unit 1 so that the angular rotation or deflecteddistance can be measured to establish the furrow depth distance shown at26B, as would be understood by those of skill in the art. The system 20according to these implementations is again constructed such that themeasurements is used to determine the actual furrow depth 12 at anygiven moment by subtracting the ground surface distance (shown at 26A)from the furrow depth distance (shown at 26B), as measured from a sharedreference location, here the bottom 1A of the row unit 1.

In certain alternate implementations, the contact sensors can be, butare not limited to, flex resistor sensors, encoders, optical sensors,magnetic sensors, fiber optic sensors, potentiometers, LVDTs, closingwheel sensors, and/or capacitive in-furrow sensors, includingcombinations thereof and sensor fusion and/or phased arrays.

In certain implementations, the sensor 14B can also infer the depth 12Aby measuring the position or angle of any number of mechanical linkageson the row unit, such as the closing wheels or arm, gauge wheels or arm,row cleaners, or seed firming arm or wheel riding in the furrow, aswould be readily understood in the art.

In the implementation of the monitoring system 20 shown in FIG. 6A, asingle sensor 14 is used, which in these implementations is anon-contact sensor 14, mounted to the planter row unit 1. The sensor 14is either scanned or its returning signal is processed to develop adepth profile for the seed furrow 12. The single sensor 14 according tothese implementations can either be scanned across the seed furrowprofile or use signal processing to simultaneously measure both thedistance to the ground surface 12C and the seed furrow bottom 12B. Invarious implementations, the sensor 14 can utilize technologies such asradar, lidar, optical, stereo camera, structured light, visible, and/orinvisible spectrums, alone or in combination.

In various of these implementations, the furrow depth 12A is measured byidentifying the furrow 12 in the data profile of the sensor 14 andreferencing the measurement of the distance 12A between the top of thefurrow (ground level 12C) to the furrow bottom 12B, as is shown infurther detail in FIG. 6B. In these implementations, the depth 12A′ atany given point (shown, for example at 12D) along the furrow 12 profileis measured by subtracting the ground surface distance 12C from thedistance at the point of interest, as measured from a shared referencelocation, such as the bottom of the row unit 1A.

In certain implementations of the down force control system 10 having amonitoring system 20, such as that of FIG. 7, have a shoe 40 as a sensor14 platform for on-the-go measurements. It is understood that in theseimplementations, the shoe 40 is a mechanical device positionedbetween—or inside—the opening disks 2A, 2B in proximity to the formingseed furrow.

The sensor 14 types affixed to the shoe 40 may include, but are notlimited to the following: radar, lidar, machine vision, capacitivesensors, ultrasonic sensors, optical sensors, thermocouple sensors,resistive sensors and/or combinations thereof, as has been describedabove.

In these implementations, the shoe 40 has one or more substantiallyvertical surfaces 42A, 42B adjacent to a side or edge of the formingseed furrow, as would be understood. In these implementations, one ormore shoe surfaces 42A, 42B are instrumented with one or more sensors14, including, but not limited to, as part of a sensor array 14C.According to these implementations, one or both surfaces 42A, 42B areproximate the bottom of the seed furrow and extend above the top of theseed furrow sidewall, as would be understood.

While the surfaces 42A, 42B may be disposed substantially vertically, incertain implementations, and as would be understood and appreciated, theshoe 40 can have a substantially horizontal bottom surface (not shown)for affixing one or more instruments to sense parameters at the bottomof furrow. The sensors 14 according to these implementations on thevarious shoe surfaces 42A, 42B can be constructed and arranged to detectone or more or any combination of the following non-limiting furrowcharacteristics: furrow depth, soil moisture, soil temperature, soilorganic matter, soil uniformity (e.g. presence of clods), count seeds,seed to soil contact, crop residue, soil color, soil type, soil pH,fertility parameters, soil parameters, soil electrical conductivity,soil compaction and the like. It is understood that in variousimplementations, the surfaces can be disposed at a variety of anglesnear or within the furrow.

As such, the shoe 40 according to these implementations can detectfurrow depth using sensors 14 disposed on the surfaces 42 to measure theheight of the adjacent furrow sidewall. These sensors 14 can detect cropresidue on top of the soil to exclude it from the height measurement ofthe seed furrow sidewall, thereby leaving only the height of soilsidewall as the seed furrow depth. Certain of these implementationsrequire the shoe 40 to stay substantially vertically fixed relative tothe bottom edge of the opening disk, regardless of depth setting.

According to certain aspects, one or more surfaces 42A, 42B may beadjacent to the inside outer circumferential edge of the gauge wheel (asshown above) such that the edge of the gauge wheel can transversely passby a sensor 14 mounted on the shoe surface 42. Similarly, variousimplementations also dispose the sensor 14 such that the inside outeredge of the opening disk 2A transversely passes the sensor 14.

In use according to these implementations, the shoe sensor 14 adjacentto the gauge wheels 3 and/or opening disks 2 can detect an observed oractual revolution speed of the gauge wheels and/or opening disks bysensing a rotating trigger mechanism (not shown) affixed to the insideof the gauge wheels and/or opening disk, as would be understood. Infurther implementations, the system 10 implements an electronic systemto determine a target revolution speed using the planter ground speedand gauge wheel/opening disk circumference and compare it to the actualobserved revolutions.

It is understood that in these implementations of the downforce system10, the monitoring system 20 and/or control system 30 can be constructedand arranged to respond to a slow actual or observed speed by generatinga user alarm about a faulty gauge wheel/opening disk. It is understoodthat such a faulty wheel/disc can be plugged with dirt, have bearinglocking up and/or other mechanical faults that cause the actualrevolutions to slow. The shoe 40 according to certain implementationscan also be constructed and arranged to detect the opening disk radiusand/or diameter to indicate a worn disc that might be faulty. Furtherutilizations would be apparent to those of skill in the art.

These implementations of the shoe 40 can also measure furrow depth bydetecting the point on the outer circumferential edge of the openingdisk 2A that intersects the outer circumferential edge of the gaugewheel 3A. Additional embodiments are possible.

In the implementation of FIG. 8A, a sensor 14A is fixedly mounted to theplanter row unit 1 and is constructed and arranged to measure thedistance between the sensor 14A and the soil or ground level 12C (theground surface distance, shown at 26A), while a second non-contactsensor 14B is rigidly mounted to the planter row unit 1 and isconstructed and arranged to measure the distance to a target object 46in direct communication with the bottom 12B of the furrow 12.

In the implementation of FIG. 8A, the target object 46 is a ridingelement 46 or rider 46 and is affixed to a flexible, rotating, ordeflecting support arm 32, such as a seed firmer, that follows thebottom 12B of the seed furrow 12, and can thereby be used to establishthe furrow depth distance shown at 26B. The system 20 according to theseimplementations is again constructed such that the measurements is usedto determine the actual furrow depth 12 at any given moment bysubtracting the ground surface distance 26A from the furrow depthdistance 26B, as measured from a shared reference location, here thebottom 1A of the row unit 1.

It is understood that the sensor 14B for the furrow target object 46 caninclude sensors that detect ferrous or magnetic targets as well asstructured light. One such example using a structured light array 48 isshown in FIG. 8B and FIG. 8C. In certain implementations of the ridingelement 46 discussed herein, and as shown in FIG. 8B and FIG. 8C, thestructured light array 48 is disposed on the upper surface of the ridingelement 46 so as to be in optical communication with one or morenon-contact sensors 14B, such that the non-contact sensors 14B can beconstructed and arranged to measure the distance to the rider 46 viachanges in detected size of the array 48. Other implementations are ofcourse possible and will be evident in the further implementationsdiscussed herein.

In implementations like that of FIG. 9, the row unit 1 has a rider 46,described further herein. It is understood that in theseimplementations, the rider 46 can either ride on the soil surface 12C orin the seed furrow 12 or both, and that the monitoring system 20 can beconstructed and arranged to use both contact and non-contact distancemeasuring approaches, such as the rider 46 approach, to assess furrowdepth 12A.

The implementation of FIG. 9 has a rider 46 that rides on the surface12C of the soil. In this implementation, the rider 46 is affixed to theplanter row unit 1 through a flexible, rotating, or deflecting supportarm 32, and the ground surface distance 26A is measured using one of thecontact sensing methods described in relation to FIG. 8A.

In the implementation of FIG. 9, there is a second rider 46A which rideson the bottom 12B of the furrow 12. The second rider 46A according tothis implementation is affixed to the first rider 46 through a secondflexible, rotating, or deflecting support arm 32A. It is understood thatthe furrow depth distance 26B is measured using one of the contactsensing methods described above in relation to FIG. 8A, thereby directlymeasuring the depth of the furrow 12. Other approaches are of coursepossible.

The monitoring system 20 implementation of FIG. 10 depicts an alternateconfiguration of the rider 46. In this embodiment, a rider 46 is affixedto the planter row unit 1 through a flexible, rotating, or deflectingsupport arm 32, the rider 46 being constructed and arranged to assessthe ground surface distance 26A.

In the implementation of FIG. 10, the rider 46 includes a non-contactsensor 14 positioned near the seed furrow 12 and oriented in thedirection of the bottom 12B, so as to assess furrow depth 12A. Thedistance from the top of the soil 12C to the bottom 12B of the furrow isthereby measured using one of the non-contact sensing methods alreadylisted, thereby directly measuring the depth of the furrow 12 in theseimplementations.

FIG. 11 depicts an implementation of the monitoring system 20 havingfirst 46 and second 46A riders and a non-contact sensor 14, with thefirst 46 and second 46A riders being constructed and arranged as wasdescribed in relation to FIG. 9.

In these implementations, the non-contact sensor 14 is constructed andarranged to measure the distance from the furrow rider 46A to the soilrider 46 for determining the depth 12A of the furrow. In alternateimplementations, the non-contact sensor configurations can comprise anon-contact sensor 14 disposed on the soil riding member 46 thatmeasures distance to the furrow rider 46A.

In use according to certain of these implementations, the sensor 14 isconstructed and arranged to transmit a signal to a receiver 13 on theopposite rider 46, 46A that, accounting for structure, allowscalculation of the real-time distance between the riders 46, 46A andtherefore the furrow depth 12A.

As shown in FIG. 12, first 14A and second 14B sensors are provided thatare transmit 14A and receive 14B sensors can be used. A sensorprocessing unit 50 is provided in these implementations and isconstructed and arranged to coordinate the transmission and receipt andestablish the distance between the sensors 14A, 14B. Accordingly, incertain implementations, alone or in combination with the otherdescribed technologies and approaches to determine any of ground surfacedistance 26A, furrow depth distance 26B and/or furrow depth 12A. In theimplementation of FIG. 12 having a ground rider 46 with a contactsensor, the transmit sensor 14A can be disposed on the rider 46 and thereceive sensor 14B disposed on the underside of the row unit 1A. Furrowdepth 12A can be calculated through any of the previously-describedapproaches. For example, 26B is always a fixed row unit dimension—fromthe receive sensor 14B to the bottom of the seed trench—that does notvary with planting depth. It is understood that ground surface distance26A varies with planting depth, and therefore, furrow depth 12A iscalculated by subtracting ground surface distance 26A from furrow depthdistance 26B.

Certain implementations of the monitoring system 20 comprise a contactsensor array 52 alone or in combination with the other contact- andnon-contact-sensing approaches discussed herein. FIG. 13 depicts anarray of contact sensors 52 or feelers 52 affixed to a sensor unit 54which is mounted to the planter row unit (not shown). The feelers 52 areaffixed to the sensor unit 54 by flexible, rotating, or deflectingmembers. In use, according to these implementations, the feelers 52 arepositioned orthogonal to the seed furrow 12 and extend down to the soiland furrow level. It is understood that in these implementations, thedistance measurement on the feelers 52 is combined into a soil depthprofile from which the furrow depth is determined.

in these and other implementations, the depth profile includes a maximumdeflection measurement (F_(max)) and a minimum deflection measurement(F_(min)). In these implementations, F_(min) is established or otherwisedetermined by measuring the position of one or more feeler sensors 52with the least amount of deflection. Here, F_(max) is determined bymeasuring the position of one or more of the feeler sensors 52 with themost deflection. Combined, these deflection measurements (F_(min) andF_(max)) are translated to a vertical distance from the sensor unit 54which becomes the minimum vertical distance (V_(min)) and the maximumvertical distance (V_(max)). The trench depth is determined bysubtracting the minimum vertical distance (V_(min)) from the maximumvertical distance (V_(max)).

The depth 12A at any point along the furrow 12 profile is therebymeasured by subtracting the ground surface distance 26A from thedistance at the point of interest 26C, as measured from a sharedreference location.

Using the depth of each feeler 52, the monitoring system 20 according tothese implementations is able to identify the lowest point in the furrow12. In various implementations, the monitoring system 20 is able toutilize the lowest point measured, or in the alternative run a curve fitthrough the variety of measured points to establish the lowest value onthe curve. In further implementations, the monitoring system 20 is ableto exclude small pockets in the observed furrow profile that would notallow seed placement, for example when the furrow is to shallow and/ornarrow, as would be understood by those of skill in the art.

Additional implementations of the monitoring system 20 comprise variousalternate sensor 14 placements. In the implementation of FIG. 14, furrowdepth 12A is measured by sensing the height of the soil 9 relative tothe planter row unit frame (shown generally at 1 and 1A) using anon-contact sensor 14, as has been previously described. In theimplementation of FIG. 14, the sensor 14 is mounted adjacent to theopening disk 2A—that is ahead of, behind or otherwise adjacent to thedisc 2A—in the forward direction of travel such that ground surfacedistance 26A is being measured before the seed furrow 12 is opened. Itis understood that the known opening disk distance 26D—the distance fromthe row unit 1 and or sensor 14 to the bottom 2A-1 of the openingdisks—is known or can be established by those of skill in the art viamounting location, measurement by calibration or other manualapproaches. Accordingly, in these implementations the furrow depth iscalculated by the opening disk distance 26D minus the ground surfacedistance 26A, adjusting for any known constants or variables that may berequired and appreciated by those of skill in the art.

In the implementation of FIG. 15, a contact rider 46 on a flexible arm32 is mounted adjacent to the opening disks 2A.

In various implementations, a first sensor 14A—here a contact sensor14A—can be used to measure the deflection—distance or rotation—of thearm 32 of the soil riding element. In these implementations, the contactsensors 14A used may include: potentiometers, optical encoders, magneticencoders, Hall Effect sensors, inductive sensors and/or capacitivesensors.

In additional implementations, a distance sensor 14A that measures thedeflection of the arm of the soil riding element can measure rotationthrough use of the radial distance from arm 32 pivot point—where the armpivots relative to the row unit 1—to the distance sensor 14A. In thisway, a rotational measurement is made and calculation of verticaldeflection of the rider 46 is identical to the rotational sensor 14A.

It is understood that for a first rotational sensor 14A in operationalcommunication with the soil rider arm 32, the length (radius) of thesoil rider arm multiplied by the measured angle of deflection (inradians) determines the radial distance of deflection. In theseimplementations, it is understood that basic trigonometric principlescan be used to yield a vertical distance (or height) of deflection whichequates to furrow depth 12A.

In alternate implementations, the rider 46 is replaced with a rollingwheel.

In certain implementations, a second non-contact sensor 14B isconstructed and arranged to measure the distance from the bottom of thesoil rider 46 (the ground 9) to a defined reference point on the rowunit 1, such as the underside 1A of the row unit. It is understood thatit is therefore possible to calculate the opening disk distance 26Dusing known constants, as has been described above.

It is understood that in various of these implementations, the contactsensor 14A and/or non-contact sensor 14B can be used together or in thealternative.

FIG. 16 depicts a schematic implementation of the monitoring system 20where furrow depth 12A is measured by establishing the position of thegauge wheel 3A relative to individual sensors 14 disposed on a sensorarray 14C mounted to or otherwise disposed proximal to the planter rowunit 1 frame. In various implementations, the sensor(s) 14, 14C used canbe optical, laser, capacitive, inductive, radar, ultrasonic, CCD, and/orcamera, all of which are non-limiting examples. It is appreciated thatfurther sensors 14 and arrays 14C are contemplated.

In these implementations, the sensor array 14C is positioned so that asthe gauge wheel 3A is deflected up (shown by reference arrow A) relativeto the planter row unit 1, the relative position of the gauge wheel 3Ato the sensor array 14C is determinable by the sensor elements 14 thatdetect the presence of the gauge wheel 3A. Because the sensor(s) 14C, 14in these implementations are rigidly mounted to the row unit 1, thevertical distance from each sensor element to the distal point 2A-1 ofthe opening disks—and therefore the bottom 12B of the furrow 12A—isknown based on the mounting location or other manual or predictivemeasurement, as described above.

It is understood that the one or more of the gauge wheel radius 60,gauge wheel arm 61 radius 62, gauge wheel arm pivot point 64, and sensormounting point 66 can be used to calculate the vertical deflection ofthe gauge wheel 3A relative to the planter row unit 1. It is understoodthat in examples where the vertical deflection measurement is relativeto the bottom 2A-1 of the opening disks 2A (and therefore the bottom 12Bof furrow), the furrow depth 12A is equal to the vertical deflection. Inalternate examples where the vertical deflection measurement is relativeto a row unit 1 reference point, the furrow depth 12A is equal to theopening disk 2A position (relative to the reference point) minus thevertical deflection measurement. Other examples are of course possible.

In certain alternate implementations, sensors 14 can be disposed on theopening disk 2A, as shown in FIG. 17. That is, in certain of theseimplementations, sensors 14 are affixed to the opening disks 2A near theedge of those disks so as to approximate the circumference. In theseimplementations, certain non-limiting examples of possible sensor(s) 14include optical, laser, capacitive, inductive and ultrasonic sensors, ora combination thereof.

In implementations like that of FIG. 17, these sensors 14 areconstructed and arranged to allow detection of the presence or absenceof soil. Here, furrow depth 12A is measured by using the traveltime—and/or distance—of the sensor 14 elements through the soil 9 tocalculate or otherwise approximate furrow depth 12A.

It is understood that the system 20 is constructed and arranged toestablish the rotational velocity of the opening disks 2A via thesoil/no-soil detection times or intervals measured between sensor(s) 14and the known angular spacing between sensor(s) 14. It is furtherunderstood that any number of sensors 14 can be used, and that thesensors 14 may or may not be adjacent. In certain examples, the furrowdepth 12A is measured by using the radius 70 of the opening disks, theradius 72 to the sensors on the opening disks 2A, the time measured fora sensor to traverse the soil, and the rotational velocity of theopening disks 2A. Additional approaches are possible.

In FIG. 18, ports 74 are defined into a side or sides of the openingdisk(s) 2A that are constructed and arranged to allow a sensor 14 insideedge of the opening disk 2A to receive light through the ports 74 andthereby evaluate the presence or absence of soil. In theseimplementations, the furrow depth 12A is determined by the monitoringsystem 20 by detecting the top 12C edge of soil 9 relative to the knownlocation of the opening disk 2A. That is, it is understood that byvirtue of its mounting being fixed to the planter row unit 1 and theopening disks 2A, the position relative to the bottom 2A-1 of theopening disks 2A is known for each sensor 14 element registering thepresence of soil via a port 74.

In alternative embodiments, the same via-port 74 sensing approach isutilized to detect the position of the gauge wheel 3A in relation to theopening disk 2A. Gauge wheel 3A to opening disk 2A relative measurementallows the furrow depth 12A to be determined as follows. Because thesensor 14 is rigidly or otherwise fixedly mounted to the row unit 1, thevertical distance from each sensor 14 to the opening disks 2A—includingthe bottom 2A-1—and therefore the bottom 12B of the furrow is known, aswas previously described. In various implementations, one or more of thegauge wheel radius 60, gauge wheel arm radius 62, gauge wheel arm pivotpoint 64, and sensor mounting point 66 is used to calculate the verticaldeflection of the gauge wheel 3A relative to the planter row unit 1, ashas been previously described. That is, if the vertical deflectionmeasurement is relative to the bottom 2A-1 of the opening disks (andtherefore the bottom 12B of the furrow), the furrow depth 12A is equalto the vertical deflection. If the vertical deflection measurement isrelative to a row unit 1 reference point, the furrow depth 12A is equalto the opening disk 2A position—relative to the reference point—minusthe vertical deflection measurement.

In the implementation of FIG. 19, at least one non-contact sensor 14 isrigidly or otherwise fixedly mounted or attached to the planter row unit1 frame, such as any of the non-contact sensors 14 described above. Thenon-contact sensor 14 according to these implementations is constructedand arranged to measure the absolute distance to the gauge wheel(s) 3Awhich can be extrapolated to establish an indirect measure of theoverall furrow depth 12A.

That is, the distance (shown at 26G) between the rigidly mountedsensor(s) 14 and the gauge wheel 3A allows the gauge wheel deflection tobe measured by the monitoring system 20. Using the gauge wheel radius60, along with the radius 62 of the gauge wheel arm 61, it is possiblefor the monitoring system 20 to calculate the vertical distance betweenthe ground-contacting bottom of the gauge wheels 3A-1 and the bottom2A-1 of the opening disks 2A to estimate furrow depth 12A. It isunderstood that through the use of multiple sensors 14, the monitoringsystem 20 can be constructed and arranged to measure gauge wheeldeflection from more than one location thereby improving accuracy.Further, using multiple sensors 14 may be needed to increase the rate atwhich the gauge wheel deflection distance is measured and improvereal-time accuracy.

Various implementations of the system 10 monitoring system 20 have gaugewheel circumference sensors 14. As shown in FIG. 20, there are contactor non-contact sensors 14 disposed about the gauge wheel 3A. Thesesensors 14 are constructed and arranged to detect the presence orabsence of the opening disk 2A at any given point around the gauge wheel3A during rotation. For example, gauge wheel rotational velocity isdetermined by the presence or absence of the observed disk, with thedetection time measured between sensor elements and the angular spacingbetween sensors 14. The sensors 14 used to measure rotational velocitymay or may not be adjacent. Other sensor 14 configurations are of coursepossible.

The implementation of FIG. 21 has an alternate sensor 14 element, whichmay include an array 14C of sensors to detect the relative position ofthe gauge wheel 3A to the opening disk 2A. The sensor 14 according tothese implementations is affixed or otherwise operationally coupled tothe gauge wheel arm 61 so that its position relative to the gauge wheelarm 61 is fixed. In use, the monitoring system 20 measures the positionof the gauge wheel 3A relative to the opening disk 2A and calculates thefurrow depth. That is, the sensors 14/array 14C provide a measuredposition of the element in relation to the opening disks 2A, allowingfor the deduction of the furrow depth as previously described.

In certain of these, the sensors 14 are positioned along a portion ofthe circumference of the gauge wheel 3A. Since the relative position ofthe openers to the gauge wheels 3A changes as the furrow depth changes,detecting and measuring this relative position determines the deflectionof the gauge wheel 3A and the furrow depth 12A.

In various implementations like those of FIGS. 20 and 21, the system 10and monitoring system 20 can utilize one or more of the followingparameters to calculate the furrow depth: rotational velocity of thegauge wheels 3A, gauge wheel radius 60, sensor radius 68, gauge wheelarm radius 62, opening disk radius 70 and/or the distance from gaugewheel arm pivot point to center of opening disk 74. This list ofmeasurements is simply illustrative and not exhaustive—other relevantmeasurements are possible, as would be understood by those of skill inthe art.

In the implementation of FIG. 21, proximity sensors 14 in the sensorarray 14C are constructed and arranged so as to detect the proximalpresence or absence of the opening disc 2A. It is understood that inthese implementations, the binary presence/absence thresholds andtolerances can be adjusted as needed.

In these implementations, the system 10 uses this proximity detection todetermine the position of the gauge wheel 3A relative to the openingdisc 2A. Proximity sensing along the sensor radius 75 allowsdetermination of at least one intersection point 76 between the circledefined by the opening disc 2A and a circle inside the gauge wheel 3Awith radius equal to sensor radius 75.

It is understood that given the gauge wheel arm length 62 and thedistance from gauge wheel arm pivot 62A to the center 2A-2 of theopening disk 2A, it is possible to determine angular deflection of thegauge wheel arm 62 relative to the vector (shown at line 77) from gaugewheel arm pivot 62A to the opening disk center 2A-2. This angulardistance translates to a vertical distance to the bottom 3A-1 of thegauge wheel 3A, which is subtracted from the vertical distance to thebottom 2A-1 of the opening disk 2A to determine trench depth 12A.

In the implementation of FIG. 21, it is also possible to determinetrench depth via a calibrated or setpoint depth value for each of thesensors in the array 14C. That is, in these implementations, theposition of the gauge wheel 3A relative to the opening disk 2A can beused to determine which—if any—sensors in the array 14C are detectingthe circumferential edge of the opening disk 2A and which are not.Accordingly, it is understood that changing the position of the gaugewheel 3A alters which of these sensors detects the edge of the openingdisk 2A. Therefore, if the measured depth 12A is either calibrated orset to the sensors that are detecting the opening disk 2A at a givendepth, trench depth 12A can be determined during operation bycorrelating the detecting sensors to their calibrated and/or set depthvalues.

It is known that during planting, the gauge wheels 3A and opening disks2A throw soil and residue, thus making that area very difficult for anykind of sensing. Therefore, for embodiments where the sensors 14 arepositioned in this area, a shield 80 or shroud may be needed to protectsensors measuring the distance, as is shown in FIG. 22.

That is, in the implementation of FIG. 22, a shield 80 (or shroud)protects the sensors 14 from the soil and residue being thrown by theopening disks 2A, 2B and gauge wheels 3A, 3B. The shield 80 and sensors14 are rigidly mounted to the planter row unit 1 frame so that arelative measurement can be made from the sensor 14 to the ground 9,allowing furrow depth to be measured, as is described above. Thedistance measured from soil to ground for each sensor may be averaged.The vertical distance from the sensors to the bottom of the openingdisks is fixed because the sensor and shield are rigidly mounted to therow unit frame, which includes the opening disks. This known distance isdetermined by manual measurement or a calibration procedure. Furrowdepth is determined by subtracting the sensor-to-soil distance from theknown sensor-to-opener (bottom) distance.

The calibration procedure may be done by affixing a plane horizontallyin both directions to the row unit so that the plane is either level tothe bottom of the opening disks or a known vertical distance from theplane that is level to the opening disks. The sensors measure thevertical distance to the known plane to determine the sensor-to-openerdistance. This measurement is stored in non-volatile memory so it can beused to calculate furrow depth when the unit is operational.

Although the disclosure has been described with reference to preferredembodiments, persons skilled in the art will recognize that changes maybe made in form and detail without departing from the spirit and scopeof the disclosed apparatus, systems and methods.

What is claimed is:
 1. A row unit downforce system comprising: a. adownforce actuator in operational communication with the row unit andconstructed and arranged to apply supplemental downforce to the row unitand opening disks; b. a monitoring system comprising at least one furrowdepth sensor constructed and arranged to generate furrow depth values;and c. a control system module, wherein the control system module isconstructed and arranged to generate actuator command signals inresponse to the furrow depth values.
 2. The row unit downforce system ofclaim 1, further comprising a shoe disposed between the opening disks,wherein the at least one sensor is disposed on the shoe.
 3. The row unitdownforce system of claim 1, further comprising a gauge wheel loadsensor in operational communication with the control system module. 4.The row unit downforce system of claim 3, further comprising a downforcecontrol system in operational communication with the control systemmodule and constructed and arranged to generate actuator command signalsfor transmission and operation of the actuator.
 5. The row unitdownforce system of claim 4, wherein the downforce control systemcomprises at least one control selected from the group consisting of aproportional-integral-derivative control, a machine learning control, apredictive model control and a lookup table.
 6. The row unit downforcesystem of claim 4, wherein downforce control system utilizes gauge wheelload and furrow depth to modify applied downforce.
 7. A system for theapplication of supplemental downforce to a row unit via an actuatorcomprising an on-the-go monitoring system comprising at least one sensorconstructed and arranged to generate furrow depth values.
 8. The systemof claim 7, wherein the at least one furrow depth sensor is anon-contact sensor.
 9. The system of claim 7, wherein the at least onesensor is a non-contact furrow depth sensor rigidly mounted to the rowunit and is positioned to measure a seed furrow bottom distance.
 10. Thesystem of claim 9, wherein the at least one sensor further comprises asecond non-contact ground level sensor.
 11. The system of claim 7,comprising a rider disposed on a support arm and constructed andarranged to physically contact the furrow.
 12. The system of claim 7,comprising a shoe comprising one or more sensors disposed onsubstantially vertical surfaces.
 13. The system of claim 12, wherein theone or more sensors are disposed adjacent to a side or edge of thefurrow.
 14. The system of claim 12, wherein the one or more sensors aredisposed adjacent to an outer circumferential edge of a gauge wheel. 15.The system of claim 12, wherein the one or more sensors are disposedadjacent to an outer circumferential edge of an opening disk.
 16. Thesystem of claim 12, wherein the one or more sensors are constructed andarranged to detect an observed or actual revolution speed of a gaugewheels and/or an opening disk by sensing a rotating trigger mechanism.17. A row unit downforce system comprising: a. a downforce actuator inoperational communication with the row unit and constructed and arrangedto apply supplemental downforce to the row unit and opening disks; andb. an on-the-go monitoring system comprising at least one furrow depthsensor constructed and arranged to generate furrow depth values.
 18. Therow unit downforce system of claim 17, comprising a gauge wheel loadsensor constructed and arranged to generate gauge wheel load values. 19.The row unit downforce system of claim 18, comprising a feedback controlsystem, wherein the control system module is constructed and arranged togenerate actuator command signals in response to furrow depth values andgauge wheel load values.
 20. The row unit downforce system of claim 17,wherein the at least one furrow depth sensor is disposed on a shoe.